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ArduPlane: Don't check variances if not available

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Paul Riseborough 2020-05-10 18:16:09 +10:00 committed by Andrew Tridgell
parent 70a02f31ab
commit 3a10838c65
1 changed files with 3 additions and 1 deletions
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ArduPlane/ekf_check.cpp
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@ -110,7 +110,9 @@ bool Plane::ekf_over_threshold()
float position_variance, vel_variance, height_variance, tas_variance; float position_variance, vel_variance, height_variance, tas_variance;
Vector3f mag_variance; Vector3f mag_variance;
Vector2f offset; Vector2f offset;
ahrs.get_variances(vel_variance, position_variance, height_variance, mag_variance, tas_variance, offset); if (!ahrs.get_variances(vel_variance, position_variance, height_variance, mag_variance, tas_variance, offset)) {
return false;
};
const float mag_max = fmaxf(fmaxf(mag_variance.x,mag_variance.y),mag_variance.z); const float mag_max = fmaxf(fmaxf(mag_variance.x,mag_variance.y),mag_variance.z);